OpenRaiser/Intern-Atlas huggingface dataset:
Radar and Event Camera Fusion for Agile Robot Ego-Motion Estimation
Venue: arXiv cs.RO 2025
Year: 2025

Achieving reliable ego motion estimation for agile robots, e.g., aerobatic aircraft, remains challenging because most robot sensors fail to respond timely and clearly to highly dynamic robot motions, often resulting in measurement blurring, distortion, and delays. In this paper, we propose an IMU-free and feature-association-free framework to achieve aggressive ego-motion velocity estimation of a robot platform in highly dynamic scenarios by combining two types of exteroceptive sensors, an event camera and a millimeter wave radar, First, we used instantaneous raw events and Doppler measurements to derive rotational and translational velocities directly. Without a sophisticated association process between measurement frames, the proposed method is more robust in texture-less and structureless environments and is more computationally efficient for edge computing devices. Then, in the back-end, we propose a continuous-time state-space model to fuse the hybrid time-based and event-based measurements to estimate the ego-motion velocity in a fixed-lagged smoother fashion. In the end, we validate our velometer framework extensively in self-collected experiment datasets. The results indicate that our IMU-free and association-free ego motion estimation framework can achieve reliable and efficient velocity output in challenging environments. The source code, illustrative video and dataset are available at https://github.com/ZzhYgwh/TwistEstimator.
Reliability-Adjusted Prioritized Experience Replay
Venue: arXiv cs.LG 2025
Year: 2025

Experience replay enables data-efficient learning from past experiences in online reinforcement learning agents. Traditionally, experiences were sampled uniformly from a replay buffer, regardless of differences in experience-specific learning potential. In an effort to sample more efficiently, researchers introduced Prioritized Experience Replay (PER). In this paper, we propose an extension to PER by introducing a novel measure of temporal difference error reliability. We theoretically show that the resulting transition selection algorithm, Reliability-adjusted Prioritized Experience Replay (ReaPER), enables more efficient learning than PER. We further present empirical results showing that ReaPER outperforms PER across various environment types, including the Atari-10 benchmark.
ShowFlow: From Robust Single Concept to Condition-Free Multi-Concept Generation
Venue: arXiv cs.CV 2025
Year: 2025

Customizing image generation remains a core challenge in controllable image synthesis. For single-concept generation, maintaining both identity preservation and prompt alignment is challenging. In multi-concept scenarios, relying solely on a prompt without additional conditions like layout boxes or semantic masks, often leads to identity loss and concept omission. In this paper, we introduce ShowFlow, a comprehensive framework designed to tackle these challenges. We propose ShowFlow-S for single-concept image generation, and ShowFlow-M for handling multiple concepts. ShowFlow-S introduces a KronA-WED adapter, which integrates a Kronecker adapter with weight and embedding decomposition, and employs a disentangled learning approach with a novel attention regularization objective to enhance single-concept generation. Building on this foundation, ShowFlow-M directly reuses the learned models from ShowFlow-S to support multi-concept generation without extra conditions, incorporating a Subject-Adaptive Matching Attention (SAMA) and a layout consistency strategy as the plug-and-play module. Extensive experiments and user studies validate ShowFlow's effectiveness, highlighting its potential in real-world applications like advertising and virtual dressing.
PuckTrick: A Library for Making Synthetic Data More Realistic
Venue: arXiv cs.LG 2025
Year: 2025

The increasing reliance on machine learning (ML) models for decision-making requires high-quality training data. However, access to real-world datasets is often restricted due to privacy concerns, proprietary restrictions, and incomplete data availability. As a result, synthetic data generation (SDG) has emerged as a viable alternative, enabling the creation of artificial datasets that preserve the statistical properties of real data while ensuring privacy compliance. Despite its advantages, synthetic data is often overly clean and lacks real-world imperfections, such as missing values, noise, outliers, and misclassified labels, which can significantly impact model generalization and robustness. To address this limitation, we introduce Pucktrick, a Python library designed to systematically contaminate synthetic datasets by introducing controlled errors. The library supports multiple error types, including missing data, noisy values, outliers, label misclassification, duplication, and class imbalance, offering a structured approach to evaluating ML model resilience under real-world data imperfections. Pucktrick provides two contamination modes: one for injecting errors into clean datasets and another for further corrupting already contaminated datasets. Through extensive experiments on real-world financial datasets, we evaluate the impact of systematic data contamination on model performance. Our findings demonstrate that ML models trained on contaminated synthetic data outperform those trained on purely synthetic, error-free data, particularly for tree-based and linear models such as SVMs and Extra Trees.
DDOT: A Derivative-directed Dual-decoder Ordinary Differential Equation Transformer for Dynamic System Modeling
Venue: arXiv cs.LG 2025
Year: 2025

Uncovering the underlying ordinary differential equations (ODEs) that govern dynamic systems is crucial for advancing our understanding of complex phenomena. Traditional symbolic regression methods often struggle to capture the temporal dynamics and intervariable correlations inherent in ODEs. ODEFormer, a state-of-the-art method for inferring multidimensional ODEs from single trajectories, has made notable progress. However, its focus on single-trajectory evaluation is highly sensitive to initial starting points, which may not fully reflect true performance. To address this, we propose the divergence difference metric (DIV-diff), which evaluates divergence over a grid of points within the target region, offering a comprehensive and stable analysis of the variable space. Alongside, we introduce DDOT (Derivative-Directed Dual-Decoder Ordinary Differential Equation Transformer), a transformer-based model designed to reconstruct multidimensional ODEs in symbolic form. By incorporating an auxiliary task predicting the ODE's derivative, DDOT effectively captures both structure and dynamic behavior. Experiments on ODEBench show DDOT outperforms existing symbolic regression methods, achieving an absolute improvement of 4.58% and 1.62% in $P(R^2 > 0.9)$ for reconstruction and generalization tasks, respectively, and an absolute reduction of 3.55% in DIV-diff. Furthermore, DDOT demonstrates real-world applicability on an anesthesia dataset, highlighting its practical impact.
Design, fabrication and control of a cable-driven parallel robot
Venue: arXiv cs.RO 2025
Year: 2025

In cable driven parallel robots (CDPRs), the payload is suspended using a network of cables whose length can be controlled to maneuver the payload within the workspace. Compared to rigid link robots, CDPRs provide better maneuverability due to the flexibility of the cables and consume lesser power due to the high strength-to-weight ratio of the cables. However, amongst other things, the flexibility of the cables and the fact that they can only pull (and not push) render the dynamics of CDPRs complex. Hence advanced modelling paradigms and control algorithms must be developed to fully utilize the potential of CDPRs. Furthermore, given the complex dynamics of CDPRs, the models and control algorithms proposed for them must be validated on experimental setups to ascertain their efficacy in practice. We have recently developed an elaborate experimental setup for a CDPR with three cables and validated elementary open-loop motion planning algorithms on it. In this paper, we describe several aspects of the design and fabrication of our setup, including component selection and assembly, and present our experimental results. Our setup can reproduce complex phenomenon such as the transverse vibration of the cables seen in large CDPRs and will in the future be used to model and control such phenomenon and also to validate more sophisticated motion planning algorithms.
Embedded FPGA Acceleration of Brain-Like Neural Networks: Online Learning to Scalable Inference
Venue: arXiv cs.AR 2025
Year: 2025

Edge AI applications increasingly require models that can learn and adapt on-device with minimal energy budget. Traditional deep learning models, while powerful, are often overparameterized, energy-hungry, and dependent on cloud connectivity. Brain-Like Neural Networks (BLNNs), such as the Bayesian Confidence Propagation Neural Network (BCPNN), propose a neuromorphic alternative by mimicking cortical architecture and biologically-constrained learning. They offer sparse architectures with local learning rules and unsupervised/semi-supervised learning, making them well-suited for low-power edge intelligence. However, existing BCPNN implementations rely on GPUs or datacenter FPGAs, limiting their applicability to embedded systems. This work presents the first embedded FPGA accelerator for BCPNN on a Zynq UltraScale+ SoC using High-Level Synthesis. We implement both online learning and inference-only kernels with support for variable and mixed precision. Evaluated on MNIST, Pneumonia, and Breast Cancer datasets, our accelerator achieves up to 17.5x latency and 94% energy savings over ARM baselines, without sacrificing accuracy. This work enables practical neuromorphic computing on edge devices, bridging the gap between brain-like learning and real-world deployment.
A Physics-Informed Neural Network Framework for Simulating Creep Buckling in Growing Viscoelastic Biological Tissues
Venue: arXiv cs.CE 2025
Year: 2025

Modeling viscoelastic behavior is crucial in engineering and biomechanics, where materials undergo time-dependent deformations, including stress relaxation, creep buckling and biological tissue development. Traditional numerical methods, like the finite element method, often require explicit meshing, artificial perturbations or embedding customised programs to capture these phenomena, adding computational complexity. In this study, we develop an energy-based physics-informed neural network (PINN) framework using an incremental approach to model viscoelastic creep, stress relaxation, buckling, and growth-induced morphogenesis. Physics consistency is ensured by training neural networks to minimize the systems potential energy functional, implicitly satisfying equilibrium and constitutive laws. We demonstrate that this framework can naturally capture creep buckling without pre-imposed imperfections, leveraging inherent training dynamics to trigger instabilities. Furthermore, we extend our framework to biological tissue growth and morphogenesis, predicting both uniform expansion and differential growth-induced buckling in cylindrical structures. Results show that the energy-based PINN effectively predicts viscoelastic instabilities, post-buckling evolution and tissue morphological evolution, offering a promising alternative to traditional methods. This study demonstrates that PINN can be a flexible robust tool for modeling complex, time-dependent material behavior, opening possible applications in structural engineering, soft materials, and tissue development.
Agentic Markets: Game Dynamics and Equilibrium in Markets with Learning Agents
Venue: arXiv cs.GT 2025
Year: 2025

Autonomous and learning agents increasingly participate in markets - setting prices, placing bids, ordering inventory. Such agents are not just aiming to optimize in an uncertain environment; they are making decisions in a game-theoretical environment where the decision of one agent influences the profit of other agents. While game theory usually predicts outcomes of strategic interaction as an equilibrium, it does not capture how repeated interaction of learning agents arrives at a certain outcome. This article surveys developments in modeling agent behavior as dynamical systems, with a focus on projected gradient and no-regret learning algorithms. In general, learning in games can lead to all types of dynamics, including convergence to equilibrium, but also cycles and chaotic behavior. It is important to understand when we can expect efficient equilibrium in automated markets and when this is not the case. Thus, we analyze when and how learning agents converge to an equilibrium of a market game, drawing on tools from variational inequalities and Lyapunov stability theory. Special attention is given to the stability of projected dynamics and the convergence to equilibrium sets as limiting outcomes. Overall, the paper provides mathematical foundations for analyzing stability and convergence in agentic markets driven by autonomous, learning agents.
2D Triangle Splatting for Direct Differentiable Mesh Training
Venue: arXiv cs.CV 2025
Year: 2025

Differentiable rendering with 3D Gaussian primitives has emerged as a powerful method for reconstructing high-fidelity 3D scenes from multi-view images. While it offers improvements over NeRF-based methods, this representation still encounters challenges with rendering speed and advanced rendering effects, such as relighting and shadow rendering, compared to mesh-based models. In this paper, we propose 2D Triangle Splatting (2DTS), a novel method that replaces 3D Gaussian primitives with 2D triangle facelets. This representation naturally forms a discrete mesh-like structure while retaining the benefits of continuous volumetric modeling. By incorporating a compactness parameter into the triangle primitives, we enable direct training of photorealistic meshes. Our experimental results demonstrate that our triangle-based method, in its vanilla version (without compactness tuning), achieves higher fidelity compared to state-of-the-art Gaussian-based methods. Furthermore, our approach produces reconstructed meshes with superior visual quality compared to existing mesh reconstruction methods. Please visit our project page at https://gaoderender.github.io/triangle-splatting.
A Modular Taxonomy for Hate Speech Definitions and Its Impact on Zero-Shot LLM Classification Performance
Venue: arXiv cs.CL 2025
Year: 2025

Detecting harmful content is a crucial task in the landscape of NLP applications for Social Good, with hate speech being one of its most dangerous forms. But what do we mean by hate speech, how can we define it, and how does prompting different definitions of hate speech affect model performance? The contribution of this work is twofold. At the theoretical level, we address the ambiguity surrounding hate speech by collecting and analyzing existing definitions from the literature. We organize these definitions into a taxonomy of 14 Conceptual Elements-building blocks that capture different aspects of hate speech definitions, such as references to the target of hate (individual or groups) or of the potential consequences of it. At the experimental level, we employ the collection of definitions in a systematic zero-shot evaluation of three LLMs, on three hate speech datasets representing different types of data (synthetic, human-in-the-loop, and real-world). We find that choosing different definitions, i.e., definitions with a different degree of specificity in terms of encoded elements, impacts model performance, but this effect is not consistent across all architectures.
Airalogy: AI-empowered universal data digitization for research automation
Venue: arXiv cs.AI 2025
Year: 2025

Research data are the foundation of Artificial Intelligence (AI)-driven science, yet current AI applications remain limited to a few fields with readily available, well-structured, digitized datasets. Achieving comprehensive AI empowerment across multiple disciplines is still out of reach. Present-day research data collection is often fragmented, lacking unified standards, inefficiently managed, and difficult to share. Creating a single platform for standardized data digitization needs to overcome the inherent challenge of balancing between universality (supporting the diverse, ever-evolving needs of various disciplines) and standardization (enforcing consistent formats to fully enable AI). No existing platform accommodates both facets. Building a truly multidisciplinary platform requires integrating scientific domain knowledge with sophisticated computing skills. Researchers often lack the computational expertise to design customized and standardized data recording methods, whereas platform developers rarely grasp the intricate needs of multiple scientific domains. These gaps impede research data standardization and hamper AI-driven progress. In this study, we address these challenges by developing Airalogy (https://airalogy.com), the world's first AI- and community-driven platform that balances universality and standardization for digitizing research data across multiple disciplines. Airalogy represents entire research workflows using customizable, standardized data records and offers an advanced AI research copilot for intelligent Q&A, automated data entry, analysis, and research automation. Already deployed in laboratories across all four schools of Westlake University, Airalogy has the potential to accelerate and automate scientific innovation in universities, industry, and the global research community-ultimately benefiting humanity as a whole.
Resampling Augmentation for Time Series Contrastive Learning: Application to Remote Sensing
Venue: arXiv cs.CV 2025
Year: 2025

Given the abundance of unlabeled Satellite Image Time Series (SITS) and the scarcity of labeled data, contrastive self-supervised pretraining emerges as a natural tool to leverage this vast quantity of unlabeled data. However, designing effective data augmentations for contrastive learning remains challenging for time series. We introduce a novel resampling-based augmentation strategy that generates positive pairs by upsampling time series and extracting disjoint subsequences while preserving temporal coverage. We validate our approach on multiple agricultural classification benchmarks using Sentinel-2 imagery, showing that it outperforms common alternatives such as jittering, resizing, and masking. Further, we achieve state-of-the-art performance on the S2-Agri100 dataset without employing spatial information or temporal encodings, surpassing more complex masked-based SSL frameworks. Our method offers a simple, yet effective, contrastive learning augmentation for remote sensing time series.
No Training Wheels: Steering Vectors for Bias Correction at Inference Time
Venue: arXiv cs.LG 2025
Year: 2025

Neural network classifiers trained on datasets with uneven group representation often inherit class biases and learn spurious correlations. These models may perform well on average but consistently fail on atypical groups. For example, in hair color classification, datasets may over-represent females with blond hair, reinforcing stereotypes. Although various algorithmic and data-centric methods have been proposed to address such biases, they often require retraining or significant compute. In this work, we propose a cheap, training-free method inspired by steering vectors used to edit behaviors in large language models. We compute the difference in mean activations between majority and minority groups to define a "bias vector," which we subtract from the model's residual stream. This leads to reduced classification bias and improved worst-group accuracy. We explore multiple strategies for extracting and applying these vectors in transformer-like classifiers, showing that steering vectors, traditionally used in generative models, can also be effective in classification. More broadly, we showcase an extremely cheap, inference time, training free method to mitigate bias in classification models.
Reply to "Emergent LLM behaviors are observationally equivalent to data leakage"
Venue: arXiv cs.CL 2025
Year: 2025

A potential concern when simulating populations of large language models (LLMs) is data contamination, i.e. the possibility that training data may shape outcomes in unintended ways. While this concern is important and may hinder certain experiments with multi-agent models, it does not preclude the study of genuinely emergent dynamics in LLM populations. The recent critique by Barrie and Törnberg [1] of the results of Flint Ashery et al. [2] offers an opportunity to clarify that self-organisation and model-dependent emergent dynamics can be studied in LLM populations, highlighting how such dynamics have been empirically observed in the specific case of social conventions.
Semantic similarity estimation for domain specific data using BERT and other techniques
Venue: arXiv cs.CL 2025
Year: 2025

Estimation of semantic similarity is an important research problem both in natural language processing and the natural language understanding, and that has tremendous application on various downstream tasks such as question answering, semantic search, information retrieval, document clustering, word-sense disambiguation and machine translation. In this work, we carry out the estimation of semantic similarity using different state-of-the-art techniques including the USE (Universal Sentence Encoder), InferSent and the most recent BERT, or Bidirectional Encoder Representations from Transformers, models. We use two question pairs datasets for the analysis, one is a domain specific in-house dataset and the other is a public dataset which is the Quora's question pairs dataset. We observe that the BERT model gave much superior performance as compared to the other methods. This should be because of the fine-tuning procedure that is involved in its training process, allowing it to learn patterns based on the training data that is used. This works demonstrates the applicability of BERT on domain specific datasets. We infer from the analysis that BERT is the best technique to use in the case of domain specific data.
Simulation-Free Differential Dynamics through Neural Conservation Laws
Venue: arXiv cs.LG 2025
Year: 2025

We present a novel simulation-free framework for training continuous-time diffusion processes over very general objective functions. Existing methods typically involve either prescribing the optimal diffusion process -- which only works for heavily restricted problem formulations -- or require expensive simulation to numerically obtain the time-dependent densities and sample from the diffusion process. In contrast, we propose a coupled parameterization which jointly models a time-dependent density function, or probability path, and the dynamics of a diffusion process that generates this probability path. To accomplish this, our approach directly bakes in the Fokker-Planck equation and density function requirements as hard constraints, by extending and greatly simplifying the construction of Neural Conservation Laws. This enables simulation-free training for a large variety of problem formulations, from data-driven objectives as in generative modeling and dynamical optimal transport, to optimality-based objectives as in stochastic optimal control, with straightforward extensions to mean-field objectives due to the ease of accessing exact density functions. We validate our method in a diverse range of application domains from modeling spatio-temporal events to learning optimal dynamics from population data.